CN104546066B - Passive type nasal endoscopic surgery assisting robot - Google Patents
Passive type nasal endoscopic surgery assisting robot Download PDFInfo
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- CN104546066B CN104546066B CN201510033689.2A CN201510033689A CN104546066B CN 104546066 B CN104546066 B CN 104546066B CN 201510033689 A CN201510033689 A CN 201510033689A CN 104546066 B CN104546066 B CN 104546066B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/24—Surgical instruments, devices or methods, e.g. tourniquets for use in the oral cavity, larynx, bronchial passages or nose; Tongue scrapers
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00238—Type of minimally invasive operation
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- Heart & Thoracic Surgery (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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- Otolaryngology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Dentistry (AREA)
- Endoscopes (AREA)
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Abstract
The invention provides a passive type nasal endoscopic surgery assisting robot. The passive type nasal endoscopic surgery assisting robot comprises a guide rail adapter which can be appropriately matched to different guide rails, a lifting mechanism which is connected to the guider rail adapter and a flexible joint structure, a tail end feeding fine adjusting mechanism and a clamping mechanism which are sequentially connected to the lifting mechanism; the lifting mechanism supports the flexible joint mechanism, the tail end feeding fine adjusting mechanism and the clamping mechanism to simultaneously move in the lifting direction. The passive type nasal endoscopic surgery assisting robot also comprises air circuits which are in in serial connection to the flexible joint mechanism; when the air circuits exhaust air, positions of all joints are kept fixed and the joints are in braking states; when at least a part of air circuits are inflated, the corresponding joints can move and in loosening states. According to the passive type nasal endoscopic surgery assisting robot, an anti-phase braking control mode is adopted, all joints of a robot can well keep an original position and posture when various incidents occur during an operation, and accordingly patients and doctors are protected from being damaged and potential risks through a driving control mode due to the fact that the joints are out of control because of power failure, motor invalidation and the like.
Description
Technical field
A kind of the invention belongs to medical instruments field, more particularly to passive type Transnasal endoscopy operation auxiliary robot.
Background technology
To remove nasal cavity focus, it is main purpose to recover nasal cavity qi of chong channel ascending adversely to Transnasal endoscopy operation.Traditional Transnasal endoscopy operation is main
It is the left hand mirror of doctor, the operative model of right-hand operated, the pattern has problems with：
1st, almost all of operation technique is completed by the right hand one hand of doctor, and left hand is held mirror for a long time and can cause to perform the operation
Doctor's aching pain of muscles, it is difficult to keep operational stability for a long time, so as to cause rocking for visual field picture, these are all unfavorable for performing the operation
Be smoothed out, can also cause extra wound when serious to patient.
2nd, for some complex operations (as cut off operation) are difficult to be completed by one hand, bimanualness, one-handed performance mould are needed
Formula limits the development of complicated operation.
Left hand in order to solve the problems, such as doctor holds mirror for a long time, there are several solutions in prior art, for example, special
During sharp notification number is for the patent of CN2857870Y, a kind of nasal endoscopes bracing frame is disclosed, wherein all of joint adopts electromagnetism control
System, each rotation loop bar and corresponding armature are carved with the card stricture of vagina that works in coordination, excessively complicated in structure, the cooperation to card stricture of vagina
The rigidity that precision has very high requirement, otherwise whole mechanism cannot just ensure.In addition, there is certain making an uproar during magnet control
, there is potential impact to navigation in surgical environments in sound and electromagnetic radiation；In patent of the patent announcement number for CN2496393Y, public
A kind of nose endoscope support is opened, the bracing frame can be fixed on patients head, in compact conformation, but operation process, adjusted ratio
Cumbersome, stability is not high, and the stress of whole mechanism all acts on patients head by head circle, it is clear that this fixation side
Formula is less friendly；Patent CN101091665A discloses a kind of endoscopic auxiliary manipulator for surgery of nasal cavity, and the mechanical hand includes auxiliary
Help manipulator support, hoisting mechanism, rotating mechanism, luffing mechanism, feed mechanism and control system.The mechanical hand of the invention is by electricity
Machine drives, and using Voice command mode, belongs to active endoscopic auxiliary manipulator for surgery of nasal cavity, and adopts speech recognition
Active control, with certain time delay and potential dangerous, power-off in such as performing the operation, motor failure etc..
Content of the invention
It is an object of the invention to provide a kind of passive type Transnasal endoscopy operation auxiliary robot, it is intended to solve in prior art
The noise of presence and electromagnetic radiation are directly fixed on the regulation brought by patients head to the harmful effect of surgical environments, bracing frame
The not high problem of loaded down with trivial details and stability and active control mode have certain time delay under the emergency cases such as power-off, motor failure
With potential dangerous problem.
The present invention is achieved in that a kind of passive type Transnasal endoscopy operation auxiliary robot, and which includes adapting to difference
Guide rail adapter, the elevating mechanism being connected on the guide rail adapter on guide rail, it is connected to the elevating mechanism end
Movable joint mechanism, be connected to the Movable joint mechanism end and in order to finely tune the amount of feeding of nasal endoscopes end feed fine setting
Mechanism and the clamping device for clamping nasal endoscopes, the clamping device are fixedly connected on the end feed microadjusting mechanism,
The elevating mechanism supports the Movable joint mechanism, the end feed microadjusting mechanism and the clamping device together in lifting
Side moves up, and the passive type Transnasal endoscopy operation auxiliary robot also includes serial in each pass of the Movable joint mechanism
The gas circuit of section, the Movable joint mechanism keep the articulate position of institute to fix and close the activity when gas circuit aerofluxuss
Section mechanism is in on-position, and the Movable joint mechanism keeps corresponding joint movable when the gas circuit at least part of qi of chong channel ascending adversely
And make the corresponding joint of the Movable joint mechanism be in releasing orientation.
Further, the Movable joint mechanism includes being sequentially connected with some cradle heads of the elevating mechanism end
If component and the dry bulb being sequentially connected on a cradle head component of least significant end in some cradle head components
Joint assembly, the end feed microadjusting mechanism are connected to a ball-joint of least significant end in some ball-joint components
On component, the gas circuit serial is between the cradle head component and the ball-joint component.
Further, the cradle head component includes the first socket joint, is sheathed on the second pass of first socket joint
Section seat, the first friction plate being fixed in first socket joint, the second friction plate being slidedly arranged in the second joint seat and
The first cylinder being limited in the second joint seat, first friction plate are connected with second joint seat activity by bearing
Connect, first cylinder is formed with the first air chamber between piston and cylinder barrel, and the piston of first cylinder is in first gas
Drive first friction plate to separate with second friction plate during qi of chong channel ascending adversely of room and first socket joint is closed with described second
Section seat be active, when the first air chamber aerofluxuss, second friction plate in the presence of elastic-restoring force with institute
State the contact of the first friction plate wedge surface and fix position between first socket joint and the second joint seat.
Further, first cylinder includes the first cylinder barrel, the first piston being slidedly arranged in first cylinder barrel and stops
Cylinder head of first cylinder barrel in the second joint seat is kept off, the piston rod of the first piston passes through first cylinder barrel
Cylinder bottom and second friction plate, in the opposite sides of second friction plate be respectively arranged with a butterfly flexible member and
Fixture, the butterfly flexible member elastic compression are between the cylinder bottom of second friction plate and first cylinder barrel, described
Fixture is fixed on the piston rod of the first piston and will be spacing for second friction plate and be placed on the first piston
On piston rod.
Further, the cylinder head screw thread is locked in the second joint seat, and the fixture is threaded onto described
On the piston rod of one piston, the cylinder head adjusts jointly the compress variation of the butterfly flexible member with the fixture.
Further, the ball-joint component includes spherical joint seat, the bulb being limited in the spherical joint seat, is slidedly arranged on
The 3rd friction plate and the second cylinder being limited in the spherical joint seat in the spherical joint seat, the bulb are closed with the ball
Section seat sphere-contact, second cylinder are formed with the second air chamber between piston and cylinder barrel, the piston of second cylinder in
The 3rd friction plate is driven to separate with the bulb and make the spherical joint seat with the bulb during the second air chamber qi of chong channel ascending adversely
It is active, when the second air chamber aerofluxuss, the 3rd friction plate is wedged described in the presence of elastic-restoring force
Fix position between the spherical joint seat and the bulb around bulb.
Further, the ball-joint component positioned at least significant end also includes fork and the formation being connected with the ball-joint
In the installing plate of the fork end, the end feed microadjusting mechanism include with the installing plate fix first slide and
Second slide that the clamping device is fixedly connected, the crossed roller being installed between the first slide and the second slide
The trimming assembly of relative slide displacement between guide rail and the fine setting second slide and the first slide.
Further, the trimming assembly includes the feed screw nut and be fixed on the silk that leading screw engaged with the leading screw
Thick stick one end simultaneously can make the handle that the leading screw rotates, the leading screw wear and be limited in the second slide, the leading screw spiral shell
Mother is moved in the second slide, and the feed screw nut is fixedly connected with the first slide.
Further, the elevating mechanism includes the gear-box of the top side for being fixed on the guide rail adapter, is installed on institute
State on gear-box to drive handwheel part, jacking sleeve that the gear train in the gear-box is driven, be placed in the jacking sleeve
Lifting shaft and the drive mechanism being connected between the gear-box, the jacking sleeve and the lifting shaft, the drive mechanism
Including leading screw and the feed screw nut being engaged on the leading screw, the feed screw nut is fixed on the lifting shaft, the leading screw
It is connected with the gear train in the gear-box and is arranged in the jacking sleeve by bearing.
Further, the leading screw is trapezoidal screw..
When gas circuit qi of chong channel ascending adversely, corresponding joint may be at releasing orientation, and now, corresponding joint can with activity, user
Optionally to adjust the relative position of corresponding joint, to reach the position for adjusting nasal endoscopes.When gas circuit is died or during aerofluxuss, own
The relative position in joint is fixed, control mode or passive type controlling party of this kind of gas circuit control mode for plugging
Formula, using the control mode of plugging so that even if there are various accidents in operation, each joint of robot also can be fine
The original position of holding and attitude, so as to protect patient and doctor to preserve from.This locking mode is safer, reliable；
Replace the left hand mirror operation of doctor, realize the bimanualness of doctor, it is also possible to noise and electromagnetic radiation is avoided to surgical environments
Harmful effect, robot are fixed on the guide rail of operation table, will not be directly fixed on patients head, it is to avoid to patients head not
Friendly, the loaded down with trivial details and stability of regulation is not high, also avoids active control mode from having one under the emergency cases such as power-off, motor failure
Fixed time delay and potential danger.
Description of the drawings
Fig. 1 is the structural representation that passive type Transnasal endoscopy operation auxiliary robot provided in an embodiment of the present invention is in use
Figure.
Fig. 2 is the partial enlarged drawing in the passive type Transnasal endoscopy operation auxiliary robot use of Fig. 1.
Fig. 3 is the sectional structure chart of the elevating mechanism of the passive type Transnasal endoscopy operation auxiliary robot of Fig. 2.
Fig. 4 is the partial enlarged drawing of Fig. 3.
Fig. 5 is the three-dimensional structure diagram of the Movable joint mechanism of the passive type Transnasal endoscopy operation auxiliary robot of Fig. 2.
Fig. 6 is the sectional structure chart of one of cradle head component of the Movable joint mechanism of Fig. 5.
Fig. 7 is the overlooking structure figure of one of ball-joint component of the Movable joint mechanism of Fig. 5.
Fig. 8 is the sectional structure chart of the ball-joint component A-A along the line of the Movable joint mechanism of Fig. 7.
Fig. 9 is the three-dimensional structure diagram of another ball-joint component of the Movable joint mechanism of Fig. 5.
Figure 10 is the overlooking structure figure of the ball-joint component of the Movable joint mechanism of Fig. 9.
Figure 11 is the sectional structure chart of the ball-joint component B-B along the line of the Movable joint mechanism of Figure 10.
Figure 12 is the three-dimensional exploded view of the end feed microadjusting mechanism of the passive type Transnasal endoscopy operation auxiliary robot of Fig. 2.
Figure 13 is the three-dimensional structure diagram of the clamping device of the passive type Transnasal endoscopy operation auxiliary robot of Fig. 2.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with drawings and Examples, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only in order to explain the present invention, and
It is not used in the restriction present invention.
Please refer to Fig. 1 and Fig. 2, passive type Transnasal endoscopy operation auxiliary robot provided in an embodiment of the present invention includes can
Adapt to the guide rail adapter 11 on different guide rails 10, the elevating mechanism 12 being connected on the guide rail adapter 11, be connected to
The Movable joint mechanism 13 of 12 end of the elevating mechanism, it is connected to 13 end of the Movable joint mechanism and in order to finely tuning intranasal
The end feed microadjusting mechanism 14 of the amount of feeding of mirror 15 and the clamping device 16 for clamping nasal endoscopes 15.The clamping device 16
It is fixedly connected on the end feed microadjusting mechanism 14, the elevating mechanism 12 supports the Movable joint mechanism 13, described
End feed microadjusting mechanism 14 and the clamping device 16 are together moved up in lifting side.
Movable joint mechanism 13, end feed microadjusting mechanism 14 and clamping device 16 are sequentially connected to 12 end of elevating mechanism
End.
Consider that 10 size of operation table guide rail that there is different size, guide rail adapter 11 are adapted to different size
10 size of operation table guide rail, the guide rail adapter 11 can not only well adapt to 10 size of operation table guide rail of different size, and
And the good stationary machines people of energy, it is ensured that stablizing for robot body structure, increased the coupling stiffness of robot and guide rail 10.
Elevating mechanism 12 is fixed on above operation table guide rail adapter 11, and moving up and down for elevating mechanism 12 can drive
Movable joint mechanism 13, end feed microadjusting mechanism 14 and clamping device 16 are together moved up in lifting side, work as clamping device
After 16 clamping nasal endoscopes 15, elevating mechanism 12 can be with the position of coarse adjustment nasal endoscopes 15, the effect of feed microadjusting mechanism 14 in end
Under, the position of nasal endoscopes 15 can be finely tuned, the position that doctor adjusts nasal endoscopes 15 is more convenient.
The passive type Transnasal endoscopy operation auxiliary robot also includes serial in each pass of the Movable joint mechanism 13
The gas circuit (not shown) of section, the Movable joint mechanism 13 keep the articulate position of institute to fix and make when the gas circuit aerofluxuss
The Movable joint mechanism 13 is in on-position, and the Movable joint mechanism 13 is kept when the gas circuit at least part of qi of chong channel ascending adversely
Corresponding joint movable and make the Movable joint mechanism 13 the corresponding joint be in releasing orientation.
When gas circuit qi of chong channel ascending adversely, corresponding joint may be at releasing orientation, and now, corresponding joint can with activity, user
Optionally to adjust the relative position of corresponding joint, to reach the position for adjusting nasal endoscopes 15.When gas circuit is died or during aerofluxuss, institute
Articulate relative position is fixed, control mode or passive type controlling party of this kind of gas circuit control mode for plugging
Formula, in the passive type Transnasal endoscopy operation auxiliary robot of the present invention, using the control mode of plugging so that even if in operation
The various accidents of generation (such as power failure, air pump failure, gas path failure etc.), each joint of robot also can keep original well
Position and attitude, so as to protect patient and doctor to preserve from.This locking mode is safer, reliable.
Passive type Transnasal endoscopy operation auxiliary robot can replace the left hand mirror operation of doctor, realize the both hands behaviour of doctor
Make, it is also possible to avoid the harmful effect of noise and electromagnetic radiation to surgical environments, the passive type Transnasal endoscopy operation auxiliary robot
It is fixed on the guide rail 10 of operation table, patients head will not be directly fixed on, it is to avoid is loaded down with trivial details to the unfriendly of patients head, regulation
And stability is not high, active control mode is also avoided to there is under the emergency cases such as power-off, motor failure certain time delay and dive
Danger.
The Movable joint mechanism 13 includes being sequentially connected with some cradle head components in 12 end of the elevating mechanism
17 and it is sequentially connected to some on a cradle head component 17 of least significant end in some cradle head components 17
Ball-joint component 18, the end feed microadjusting mechanism 14 are connected to an institute of least significant end in some ball-joint components 18
State on ball-joint component 18, the gas circuit serial is between the cradle head component 17 and the ball-joint component 18.
Each cradle head component 17 and each ball-joint component 18 have all carried out modularized processing, and simple structure is compact,
Low cost.Pneuma-lock mode, cleaner, noise is low, electromagnetic-radiation-free.The application of the invention, has liberated the left hand of doctor,
So that doctor in art can bimanualness, so as to improve surgical quality, reduce the labor intensity of doctor, reduce complication.
Please refer to Fig. 3 and Fig. 4, the guide rail adapter 11 includes the framework 19 being stuck on the guide rail 10, described
Draw-in groove 20 is offered on framework 19, and the guide rail 10 is stuck in the draw-in groove 20, and the first side of the framework 19 offers an opening
21, the opening 21 is connected with the draw-in groove 20, and the framework 19 has the second side relative with the first side, the bottom of the framework 19
Side is provided with the first knob 210, and the second side of the framework 19 is provided with the second knob 22, when guide rail 10 is stuck in draw-in groove 20
Afterwards, the first knob 210 and the second knob 22 are screwed in draw-in groove 20 and are resisted against on the guide rail 10, are fixed on guide rail adapter 11
On guide rail 10, when guide rail adapter 11 is fixed on the guide rail 10 of different size model, the first knob 210 and the second knob 22 can
Stretch in draw-in groove 20 and be butted on corresponding guide rail 10 to adjust which, equally the guide rail adapter 11 can be fixed on corresponding
On guide rail 10, the purpose that guide rail adapter 11 is adapted to different size model has been reached.
Elevating mechanism 12 is fixed on the top side of framework 19.The elevating mechanism 12 includes the gear of the top side for being fixed on framework 19
Case 23, it is installed on gear-box 23 to drive handwheel part 24, jacking sleeve 25 that the gear train in the gear-box 23 is driven, be placed on
Lifting shaft 26 in jacking sleeve 25 and it is connected between the gear-box 23, the jacking sleeve 25 and the lifting shaft 26
Drive mechanism 27.Then the transmission is transferred to by each pinion rotation in gear train in 24 sliding tooth roller box 23 of handwheel part
Drive mechanism 27, so as to drive lifting shaft 26 to slide in jacking sleeve 25, the head end of Movable joint mechanism 13 is connected to lifting
On axle 26.Specifically, the cradle head component 17 of the head end of Movable joint mechanism 13 is connected on lifting shaft 26.
The bottom of gear-box 23 is mutually fixedly connected with the top side of framework 19.The fixed seat at bottom of jacking sleeve 25 is in the tooth
The top of roller box 23, the bottom envelope of jacking sleeve 25 are provided with connecting plate 28, and lifting shaft 26 is a hollow beam barrel, its bottom envelope
Be provided with plate body 29, intermeshing bevel gear 30 be set in gear-box 23, the handwheel part 24 include handwheel 31 and with handwheel 31
The wheel shaft 32 being fixedly connected, the rotational band axis of a movable block 32 of handwheel 31 are rotated, and one of bevel gear 30 is fixed and is placed on wheel shaft 32,
The first feed screw nut 34 that drive mechanism 27 includes the first leading screw 33 and is engaged on the first leading screw 33, another bevel gear 30
It is fixed on the bottom of the first leading screw 33.First leading screw 33 is penetrated in jacking sleeve 25 by connecting plate 28, then passes through plate body 29 simultaneously
Stretch in lifting shaft 26, the first feed screw nut 34 is fixed in plate body 29, and engage with the first leading screw 33, arrange in connecting plate 28
There is leading screw bearing 35, connected by leading screw bearing 35 between the first leading screw 33 and connecting plate 28.
Handwheel 31 is rotated, wheel shaft 32 drives one of bevel gear 30 to rotate, drives to another bevel gear 30, by
This, the first leading screw 33 is rotated relative to connecting plate 28, when the first leading screw 33 is rotated, as the first feed screw nut 34 is affixed to
On the plate body 29 of lifting shaft 26, thus, the rotation of the first leading screw 33 makes the first feed screw nut 34 together rise with lifting shaft 26
Or decline.In order that lifting shaft 26 does not produce relative rotation when relative to 25 oscilaltion of jacking sleeve, in jacking sleeve 25
An optical axis 36 is inside fixed, the bottom of the optical axis 36 is fixed on connecting plate 28, top through plate body 29 and is stretched in lifting shaft 26,
Optical axis 36 is connected with plate body 29 by linear bearing 37.
Self-lubricating bearing 38 is provided with the inside of the top ends of jacking sleeve 25, and is covered with bearing cap 39 on its top,
Lifting shaft 26 passes through bearing cap 39.Opposite sides of the wheel shaft 32 through gear-box 23, and be connected with gear-box 23 by bearing 40,
Specifically, the left and right sides of gear-box 23 is respectively arranged with a bearing 40, and handwheel 31 is located at the outside of gear-box 23, wheel shaft 32
It is connected with two bearings 40 successively, and wears one of bevel gear 30, the bevel gear 30 is located between two bearings 40.
In the present embodiment, the first leading screw 33 is trapezoidal screw, it is to avoid after lifting shaft 26 is relative to the rising of jacking sleeve 25
Landing is got off under gravity.
The elevating mechanism 12 is to drive two intermeshing bevel gears 30 to rotate by rotation hand wheel 31, and then drives
Trapezoidal screw 33 rotates to realize robot integral elevating.
Movable joint mechanism 13 is fixed on the end of elevating mechanism 12, and the part is mainly by three modular cradle heads
Component 17 and two ball-joint components 18 are constituted.Five joints adopt pneuma-lock mode, and pneuma-lock joint is using anti-
Locking mode to braking.Locking state is in when initial, after pressing pneumatic switch, five joints loosen simultaneously or, press
After pneumatic joint, partial joint loosens, and for example, for the first time by next pneumatic switch, two ball-joint components 18 loosen, then press
Another pneumatic switch lower, three cradle head components 17 also loosen, at this point it is possible to the end by doctor's freely dragging robot
End.After reaching precalculated position, pneumatic switch is unclamped, five joints are locked simultaneously；The introducing of the locking mode of plugging so that
Even if there is various accident (such as power failures, air pump failure, gas path failure etc.) in operation, each joint of robot also can be fine
The original position of holding and attitude, so as to protect patient and doctor to preserve from.This locking mode is safer, reliable.
Operation consent, first knob 210 and the second knob 22 of operation table guide rail adapter 11 is unclamped, by operation table
On guide rail 10, robot is adjusted to suitable position by moving guide rail adapter 11, tightens the first of operation table guide rail adapter 11
Knob 210 and the second knob 22, are fixed.The operation table guide rail adapter 11 compared with other operational table holders, not only
Good fastening effect can be played, and different 10 sizes of guide rail can also be adapted to while robot coupling stiffness is ensured.
In the present embodiment, the first knob 210 and the second knob 2 are screw, in other embodiments, the first knob 210 and second
Knob 2 can adjust and fix the part of guide rail for other.
Gear-box 23 is fixed by screws in above operation table guide rail adapter 11.The bevel gear 30 of a pair of meshing is solid respectively
It is scheduled on wheel shaft 32 and trapezoidal screw 33.Handwheel 31 is fixed on one end of wheel shaft 32.Wheel shaft 32 is fixed on by a pair of bearings 40
On gear-box 23.35 Internal and external cycle of leading screw bearing is coordinated with the connecting plate 28 of trapezoidal screw 33 and jacking sleeve 25 respectively.Optical axis 36
It is fixed on the connecting plate 28 of jacking sleeve 25.Linear bearing 37 is fixed on lifting shaft 26.Linear bearing 37 can be along optical axis 36
Slide up and down, it is the rotation for preventing lifting shaft 26 which acts on.First feed screw nut 34 is also secured on lifting shaft 26.Self-lubricating axle
Hold 38 to be fixed on the inside of jacking sleeve 25 by self-lubricating bearing lid 39.Lifting shaft 26 can be slided up and down along self-lubricating bearing 38.
Marking closely screw 41 is used for for cradle head component 17 being fixed on lifting shaft 26.
In sum, the operation principle of elevating mechanism 12 is as follows：Bevel-gear sett 30 is driven to rotate by rotating handwheel 31,
Motion is delivered in trapezoidal screw pair, and the lifting shaft 26 being connected with the first feed screw nut 34 is moved up and down along self-lubricating bearing 38,
Realize the lifting of robot.Using the secondary self-lock mechanism of trapezoidal screw, robot is made to be maintained at highly going up of adjusting, without
Decline under self gravitation effect,.
Please refer to Fig. 5 and Fig. 6, the Movable joint mechanism 13 of robot is used for realizing in operation to 15 end of nasal endoscopes
Attitude and position be adjusted, mainly include three modular cradle head components 17 and two modular ball-joints
18.
The internal structure of three modular cradle head components 17 is similar to, and is tied using the pneumatic control of plugging
Structure, is illustrated by taking one of cradle head component as an example below.
The cradle head component 17 includes the first socket joint 42, is sheathed on the second joint seat of first socket joint 42
43rd, the first friction plate 44 being fixed in first socket joint 42, the second friction being slidedly arranged in the second joint seat 43
Piece 45 and the first cylinder 46 being limited in the second joint seat 43, first friction plate 44 is by bearing 47 and described the
Two socket joint 43 are flexibly connected, and first cylinder 46 is formed with the first air chamber 48, first gas between piston and cylinder barrel
The piston of cylinder 46 drive when 48 qi of chong channel ascending adversely of the first air chamber first friction plate 44 separate with second friction plate 45 and
First socket joint 42 is made to be active with the second joint seat 43, when first air chamber 48 is died, described
Second friction plate 45 is contacted with 44 wedge surface of the first friction plate in the presence of elastic-restoring force and makes first socket joint
Between 42 and the second joint seat 43, position is fixed.
First cylinder 46 includes the first cylinder barrel 50, the first piston 49 being slidedly arranged in first cylinder barrel 50 and backstop
First cylinder head 51 of first cylinder barrel 50 in the second joint seat 43, the piston rod of the first piston 49 pass through institute
The cylinder bottom of the first cylinder barrel 50 and second friction plate 45 is stated, and one is respectively arranged with the opposite sides of second friction plate 45
Individual first butterfly flexible member 52 and the first fixture 53,52 elastic compression of the first butterfly flexible member rub in described second
Between the cylinder bottom of pad 45 and first cylinder barrel 50, first fixture 53 is fixed on the piston rod of the first piston 49
Above and by piston rod that is spacing for second friction plate 45 and being placed on the first piston 49.
First cylinder head, 51 screw thread is locked in the second joint seat 43, and first fixture 53 is threaded onto institute
State on the piston rod of first piston 49, first cylinder head 51 adjusts first butterfly jointly with first fixture 53
The compress variation of flexible member 52.
As the cradle head component 17 is also associated with a cradle head component 17, therefore the cradle head component 17 is gone back
Including the connecting rod 54 being fixedly connected in the first socket joint 42, the pass for connecting previous cradle head component 17 by the connecting rod 54
Section seat, reaches being connected with each other for two adjacent rotated joint assemblies 17.Connecting rod 54 and the first socket joint 42 are connected by screw 55
Together.The Internal and external cycle of bearing 47 is coordinated with the first friction plate 44, second joint seat 43 respectively.
First socket joint 42 and 44 mating surface of the first friction plate are spline fitted, and the two is fixed together by screw 56.
The contact surface of the first friction plate 44 and the second friction plate 45 is ring-like wedge surface, can increase the normal pressure of rubbing surface.First dish
One end of flexible member 52 is withstood on the second friction plate 45, and the other end is withstood on the cylinder bottom of the first cylinder barrel 50.Second friction plate 45
Can between the first dish-shaped flexible member 52 and the first fixture 53 (i.e. adjusting nut 53) along first piston 49 piston rod
Slide.Adjusting nut 53 can be screwed on the piston rod of first piston 49 and back-out, and adjust the first cylinder 46 with this and inflate
When piston rod displacement size.
First cylinder barrel 50 and the second friction plate 45 are spline fitted with the cooperation of the contact surface of second joint seat 43.First
Cylinder barrel 50 and the second friction plate 45 can be moved axially relatively, but relatively unrotatable.First cylinder head 51 and second joint
The contact surface of seat 43 coordinates for screw thread.The upper surface of the first cylinder head 51 is pressed on the first cylinder barrel 50.The first cylinder can be passed through
The initial compression amount that be screwed into, back-out adjust first dish-shaped flexible member 52 and first friction plate of the lid 51 along second joint seat 43
44 and second friction plate 45 rubbing surface normal pressure, have adjusted indirectly the coupling mechanism force of cradle head component 17.First piston
49 piston rod top is connected with the pipe joint 57 of gas circuit, and the side of first cylinder barrel 50 is connected with another pipe joint 57,
Two pipe joints 57 are connected with trachea (not shown), and it is stream in two pipe joints 57, the first air chamber 48 and other joints to make air-flow
Logical.
In sum, the course of work of the cradle head component 17 is as follows：When initial, the atmospheric pressure in the first air chamber 48
Identical with external atmosphere pressure, cradle head is adjusted to required original lock by adjusting the first cylinder head 51 and adjusting nut 53
Clamp force so that the first dish-shaped flexible member 52 is in compressive state, the rubbing surface of the first friction plate 44 and the second friction plate 45 are deposited
In normal pressure, so that whole cradle head component 17 is in locking state, i.e. the first socket joint 42 and second joint seat 43
Between can not rotate.When the cradle head component 17 needs to unclamp, pneumatic switch is pressed, compressed gas enter first along gas circuit
Air chamber 48, the piston rod of first piston 49 are moved down, and second friction plate of lower side compression 45 of adjusting nut 53 simultaneously drives the second friction
Piece 45 is moved down, and the first dish-shaped flexible member 52 is further compressed, the friction of the first friction plate 44 and the second friction plate 45
Face separates, and cradle head component 17 freely can turn between first socket joint 42 and second joint seat 43 in releasing orientation
Dynamic.
Junction between the piston rod and the first cylinder barrel 50 of first piston 49 is provided with piston rod packing circle 58, and first
The bottom of the piston rod of piston 49 has piston plate 59.Piston plate 59 slides in the first cylinder barrel 50.First cylinder barrel 50 and piston
Piston packing 60 is also formed between plate 59.
Two modular 18 internal structures of ball-joint component are similar to, and are all the pneumatic control structures using plugging,
Individually below two ball-joint components 18 are illustrated.
Please refer to Fig. 7 and Fig. 8, the ball-joint component of the cradle head component 17 of connection least significant end is shown
18, the ball-joint component 18 includes that spherical joint seat 61, the ball-joint 62 (i.e. bulb) being limited in the spherical joint seat 61, cunning set
The 3rd friction plate 63 and the second cylinder 64 being limited in the spherical joint seat 61 in the spherical joint seat 61, the ball are closed
Section 62 and 61 sphere-contact of the spherical joint seat, second cylinder 64 are formed with the second air chamber 65 between piston and cylinder barrel,
The piston 66 of second cylinder 64 drives the 3rd friction plate 63 and the ball-joint when 65 qi of chong channel ascending adversely of the second air chamber
62 are separated and the spherical joint seat 61 is active with the ball-joint 62, when second air chamber 65 is died, institute
State the 3rd friction plate 63 to wedge in the presence of elastic-restoring force around the ball-joint 62 and make the spherical joint seat 61 and institute
State position between ball-joint 62 to fix.
Second cylinder 64 includes the second cylinder barrel 67, the second piston 66 being slidedly arranged in second cylinder barrel 67 and backstop
Second cylinder head 68 of second cylinder barrel 67 in the spherical joint seat 61, the piston rod of the second piston 66 is through described
The cylinder bottom of the second cylinder barrel 67 and the 3rd friction plate 63, are respectively arranged with one in the opposite sides of the 3rd friction plate 63
Second butterfly flexible member 69 and the second fixture 70,69 elastic compression of the second butterfly flexible member is in the described 3rd friction
Between the cylinder bottom of piece 63 and second cylinder barrel 67, second fixture 70 is fixed on the piston of the second piston 66
On bar and by piston rod that is spacing for the 3rd friction plate 63 and being placed on the second piston 66.
Second cylinder head, 68 screw thread is locked in the spherical joint seat 61, and second fixture 70 is threaded onto described
On the piston rod of the second piston 66, second cylinder head 68 adjusts second butterfly jointly with second fixture 70
The compress variation of shape flexible member 69.
In the present embodiment, the second fixture 70 is adjusting nut 70, and the second butterfly flexible member 69 is butterfly spring
69.
As the ball-joint component 18 is also associated with a ball-joint component 18, therefore, the ball-joint component 18 also includes
The fork 71 being fixedly connected on ball-joint 62, the spherical joint seat 61 for connecting adjacent ball joint assembly 18 by the fork 71, reaches
To being connected with each other for two adjacent ball joint assemblies 18.
Spherical joint seat 61 is a sleeve in the present embodiment, the right-hand member of the sleeve 61 be one with 62 diameter phase of bulb
Same spherical cut, bulb 62 put into sleeve from the left side of sleeve, by spherical cut gear in right-hand member, form the pass of sphere connection
Section；Bulb 62 is connected by screw thread pair with fork 71.
There is on 3rd friction plate 63 spherical groove being engaged with bulb 62；Support the 3rd one end of disk spring 69
On friction plate 63, the other end is supported on the second cylinder barrel 67.3rd friction plate, 63 left end in disk spring 69 and can adjust spiral shell
Piston rod between female 70 along the second piston 66 slides.Adjusting nut 70 can be on the piston rod of the second piston 66
Being screwed into and back-outing, the size of piston displacement during cylinder charge is adjusted with this；Second cylinder barrel 67 and the 3rd friction plate 63 and sleeve
The cooperation of 61 contact surface is spline fitted, and three can move axially relatively, it is impossible to relatively rotate.Second cylinder head 68
Coordinate for screw thread with the contact surface of sleeve 61.The right side of the second cylinder head 68 is pressed on the second cylinder barrel 67.Second can be passed through
The initial compression amount that be screwed into, back-out adjust disk spring 69 and bulb 62 and threeth friction plate 63 of the cylinder head 68 along sleeve,
Bulb 62 and the normal pressure of two rubbing surfaces of sleeve 61, have adjusted the coupling mechanism force of ball-joint component 18 indirectly.Second piston
Piston rod on the right side of in the of 66 is connected with the pipe joint 72 of gas circuit, and pipe joint 72 is connected with the second air chamber 65, gas is entered or is arranged
Go out the second air chamber 65.
In sum, the course of work of this ball-joint component 18 is as follows：When initial, the atmospheric pressure in the second air chamber 65 with
External atmosphere pressure is identical, initial needed for be adjusted to by ball-joint component 18
Coupling mechanism force so that disk spring 69 is in compressive state, there is malleation with sleeve 61, the rubbing surface of the 3rd friction plate 63 in bulb 62
Power, so that whole ball-joint component 18 is in and can not rotate between locking state, i.e. fork 71 and sleeve 61.When joint needs
When to be unclamped, pneumatic switch is pressed, compressed gas enter the second air chamber 65 of the second cylinder 64, the second piston 66 along gas circuit
Piston rod move to left, the left side of adjusting nut 70 compresses the 3rd friction plate 63 and simultaneously drives the 3rd friction plate 63 to be moved to the left, and makes dish
Shape spring 70 further compresses, and bulb 62 is separated with the rubbing surface of the 3rd friction plate 63, and ball-joint component 18 is in releasing orientation,
Freely can rotate between fork 71 and sleeve 61.
Junction between the piston rod and the second cylinder barrel 67 of the second piston 66 is provided with piston rod packing circle 73,
The bottom of the piston rod of the second piston 66 has piston plate 74.Piston plate 74 slides in the second cylinder barrel 67.Second cylinder barrel
Piston packing 75 is also formed between 67 and piston plate 74.
Please refer to Fig. 9 to Figure 11, the structure of the ball-joint component 18 of least significant end is with above-mentioned ball-joint component 18 substantially
Identical, its difference is：The end of the fork 71 of bulb 62 is connected with installing plate 76, the end feed microadjusting mechanism 14
It is installed on the installing plate 76.
Please refer to Figure 12, end feed microadjusting mechanism 14 is mainly used in operation process nasal endoscopes 15 along direction of feed
Intense adjustment obtaining apparent surgical field of view.
The end feed microadjusting mechanism 14 includes the first slide 77 that fixes with the installing plate 76 and the clamping machine
Second slide 78 that structure 16 is fixedly connected, the crossed roller being installed between the first slide 77 and the second slide 78 are led
The trimming assembly 80 of relative slide displacement between rail 79 and the fine setting second slide 78 and the first slide 77.First slide
Crossed roller guide rail 79 between 77 and second slide 78 allows the two relative slip.
Offer groove 81 in second slide 78, and offer in the side of second slide 78 and be connected with the groove 81
Port 82.Trimming assembly 80 includes the second leading screw 83 and the second feed screw nut 84 for engaging with the second leading screw 83, the second leading screw
83 are arranged in the groove 81 of second slide 78, and the second feed screw nut 84 is engaged with the second leading screw 83, the second feed screw nut 84
Main body 85 is located in the groove 81, and there is the second feed screw nut 84 projection 86 being connected in the main body 85, the projection 86 to stretch into
Port 82 is interior and can slide in port 82, and first slide 77 is fixed on the projection 86, and the opposite end of the second leading screw 83 leads to
Cross bearing 87 to be installed in second slide 78.In the present embodiment, the second leading screw 83 is trapezoidal screw.
Trimming assembly 80 also includes the handle 88 being fixed on one end of the second leading screw 83, by the rotation of handle 88, makes
Trapezoidal screw 83 is rotated, and the second feed screw nut 84 drives first slide 77 to move relative to second slide 78, realizes to nasal endoscopes 15
Fine setting.
The crossed roller guide rail 79 includes the first guide rail 89 second guide rail 90 relative with the first guide rail 89 and is arranged at
Ball (not shown) between first guide rail 89 and the second guide rail 90.First guide rail 89 and the second guide rail 90 are individually fixed in first
On slide 77 and second slide 78, when the second leading screw 83 is rotated, the second feed screw nut 84 is moved together with first slide 77, by
In the presence of crossed roller guide rail 79, first slide 77 is made to move relative to second slide 78.
End feed microadjusting mechanism 14 is driven using the trapezoidal screw pair of self-locking, and doctor is can achieve by rotary handle 88
Fine setting of the nasal endoscopes 15 along direction of feed.Because drive part is using the trapezoidal screw pair for being capable of self-locking, therefore when doctor unclamps rotation
When changing hands handle 88, the position that nasal endoscopes 15 can be maintained at setting is motionless, now can both hands be operated.
The clamping device 16 of nasal endoscopes 15 includes the fixed plate 91 being fixed in second slide 78, is connected in fixed plate 91
Bottom plate 92, the size of dehiscing between the auxiliary splint 93 that is articulated on bottom plate 92 and adjustment bottom plate 92 and auxiliary splint 93
Knob 94.V-groove 95 is formed between bottom plate 92 and auxiliary splint 93, and nasal endoscopes 15 are held in the V-groove 95, the clamping device
16 clamp form using V-type, can clamp nasal endoscopes 15 by rotary knob 94 or unclamp.
In sum, the passive type Transnasal endoscopy operation auxiliary robot course of work according to the present invention is as follows：1) will operation
Bed guide rail adapter 11 is locked after being placed in the correct position of operation table guide rail 10；2) handwheel 31 of rotary lifting mechanism 12, by nose
Scope 15 is adjusted to the height for needing of performing the operation；3) pneumatic switch is pressed, and compressed air is entered so that in Movable joint mechanism 13
All piston actions, cradle head component 17 and ball-joint component 18 are in free state；Nasal endoscopes 15 are adjusted to close by doctor
Suitable position, unclamps pneumatic switch, and compressed air is discharged so that all piston resets, cradle head component 17 and ball-joint group
Part 18 is in locking state；4) doctor adjusts end feed microadjusting mechanism 14 manually, obtains clearly surgical field of view.Complete with
On regulating step after, doctor can both hands be armed is operated.
Presently preferred embodiments of the present invention is the foregoing is only, not in order to limit the present invention, all in essence of the invention
Any modification, equivalent and improvement that is made within god and principle etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of passive type Transnasal endoscopy operation auxiliary robot, which includes adapting to the guide rail adapter on different guide rails, its
It is characterised by：The passive type Transnasal endoscopy operation auxiliary robot also includes the elevator being connected on the guide rail adapter
Structure, the Movable joint mechanism for being connected to the elevating mechanism end, it is connected to the Movable joint mechanism end and in order to finely tuning
The end feed microadjusting mechanism of the amount of feeding of nasal endoscopes and the clamping device for clamping nasal endoscopes, the clamping device are fixed and are connected
It is connected on the end feed microadjusting mechanism, the elevating mechanism supports the Movable joint mechanism, end feeding fine setting
Mechanism and the clamping device are together moved up in lifting side, and the passive type Transnasal endoscopy operation auxiliary robot also includes going here and there
In the gas circuit in each joint of the Movable joint mechanism, the Movable joint mechanism keeps all when the gas circuit aerofluxuss to row
The position in joint is fixed and makes the Movable joint mechanism in on-position, the Movable joint mechanism in the gas circuit at least
Keep corresponding joint movable during the qi of chong channel ascending adversely of part and make the corresponding joint of the Movable joint mechanism be in releasing orientation.
2. passive type Transnasal endoscopy operation auxiliary robot as claimed in claim 1, it is characterised in that：The Movable joint mechanism
Including be sequentially connected with the elevating mechanism end some cradle head components and be sequentially connected to some cradle heads
Some ball-joint components in component on one of the least significant end cradle head component, the end feed microadjusting mechanism connection
In some ball-joint components on a ball-joint component of least significant end, the gas circuit serial is in the cradle head
Between component and the ball-joint component.
3. passive type Transnasal endoscopy operation auxiliary robot as claimed in claim 2, it is characterised in that：The cradle head component
Including the first socket joint, be sheathed on first socket joint second joint seat, be fixed in first socket joint first
Friction plate, the second friction plate being slidedly arranged in the second joint seat and the first cylinder being limited in the second joint seat,
First friction plate is flexibly connected with the second joint seat by bearing, first cylinder shape between piston and cylinder barrel
First friction plate is driven when the first air chamber qi of chong channel ascending adversely with described into the piston for having the first air chamber, first cylinder
Two friction plates are separated and first socket joint is active with the second joint seat, when first air chamber is died
When, second friction plate is contacted with the first friction plate wedge surface in the presence of elastic-restoring force and makes first joint
Between seat and the second joint seat, position is fixed.
4. passive type Transnasal endoscopy operation auxiliary robot as claimed in claim 3, it is characterised in that：First cylinder includes
First cylinder barrel, the first piston being slidedly arranged in first cylinder barrel and the first cylinder barrel described in backstop are in the second joint seat
Cylinder head, the piston rod of the first piston pass through the cylinder bottom of first cylinder barrel and second friction plate, in described second
The opposite sides of friction plate is respectively arranged with a butterfly flexible member and fixture, the butterfly flexible member elastic compression in
Between the cylinder bottom of second friction plate and first cylinder barrel, the fixture is fixed on the piston rod of the first piston
And by piston rod that is spacing for second friction plate and being placed on the first piston.
5. passive type Transnasal endoscopy operation auxiliary robot as claimed in claim 4, it is characterised in that：The cylinder head screw fastening
Enter in the second joint seat, the fixture is threaded onto on the piston rod of the first piston, the cylinder head with described
Fixture adjusts the compress variation of the butterfly flexible member jointly.
6. passive type Transnasal endoscopy operation auxiliary robot as claimed in claim 2, it is characterised in that：The ball-joint component bag
Include spherical joint seat, the bulb being limited in the spherical joint seat, the 3rd friction plate being slidedly arranged in the spherical joint seat and spacing
The second cylinder in the spherical joint seat, the bulb and the spherical joint seat sphere-contact, second cylinder is in piston
The second air chamber is formed between cylinder barrel, and the piston of second cylinder drives the described 3rd to rub when the second air chamber qi of chong channel ascending adversely
Pad is separated with the bulb and the spherical joint seat is active with the bulb, when second air chamber is died
When, the 3rd friction plate is wedged in the presence of elastic-restoring force around the bulb and makes the spherical joint seat with the ball
Between head, position is fixed.
7. passive type Transnasal endoscopy operation auxiliary robot as claimed in claim 6, it is characterised in that：It is located at the described of least significant end
Ball-joint component is also included the fork being connected with the ball-joint and is formed at the installing plate of the fork end, and the end is entered
To second slide, peace that micro-adjusting mechanism includes being fixedly connected with the clamping device with the first slide of installing plate fixation
Loaded on the crossed roller guide rail between the first slide and the second slide and the fine setting second slide and described first
Between slide with respect to slide displacement trimming assembly.
8. passive type Transnasal endoscopy operation auxiliary robot as claimed in claim 7, it is characterised in that：The trimming assembly includes
Feed screw nut and the handle for being fixed on described leading screw one end and rotating can the leading screw that leading screw is engaged with the leading screw, institute
State leading screw to wear and be limited in the second slide, the feed screw nut is moved in the second slide, the leading screw spiral shell
Female it is fixedly connected with the first slide.
9. the passive type Transnasal endoscopy operation auxiliary robot as described in any one of claim 1-7, it is characterised in that：The lifting
Mechanism includes the gear-box of the top side for being fixed on the guide rail adapter, is installed on the gear-box to drive in the gear-box
The handwheel part of gear train transmission, jacking sleeve, the lifting shaft being placed in the jacking sleeve and be connected to the gear-box, institute
The drive mechanism between jacking sleeve and the lifting shaft is stated, the drive mechanism includes leading screw and is engaged on the leading screw
Feed screw nut, the feed screw nut are fixed on the lifting shaft, and the leading screw is connected with the gear train transmission in the gear-box
Connect and be arranged in the jacking sleeve by bearing.
10. passive type Transnasal endoscopy operation auxiliary robot as claimed in claim 9, it is characterised in that：The leading screw is trapezoidal
Leading screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510033689.2A CN104546066B (en) | 2015-01-22 | 2015-01-22 | Passive type nasal endoscopic surgery assisting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510033689.2A CN104546066B (en) | 2015-01-22 | 2015-01-22 | Passive type nasal endoscopic surgery assisting robot |
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| Publication Number | Publication Date |
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| CN104546066A CN104546066A (en) | 2015-04-29 |
| CN104546066B true CN104546066B (en) | 2017-02-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510033689.2A Active CN104546066B (en) | 2015-01-22 | 2015-01-22 | Passive type nasal endoscopic surgery assisting robot |
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